Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles
Shared control is a promising approach that can facilitate the mutual understanding and cooperative control between human and machine. In this study, a novel reference-free framework for shared control of automated vehicles is proposed with the aim of mitigating conflicts between the human driver an...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/155223 |
| _version_ | 1826114267712061440 |
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| author | Huang, Chao Lv, Chen Naghdy, Fazel Du, Haiping |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Huang, Chao Lv, Chen Naghdy, Fazel Du, Haiping |
| author_sort | Huang, Chao |
| collection | NTU |
| description | Shared control is a promising approach that can facilitate the mutual understanding and cooperative control between human and machine. In this study, a novel reference-free framework for shared control of automated vehicles is proposed with the aim of mitigating conflicts between the human driver and the automatic system during their interactions. Position constraint and time to collision are deployed to prevent collision and guarantee stability by limiting the yaw rate and sideslip angle of the vehicle. The design of the shared controller is formulated as a model predictive control problem. It determines vehicle state based on the current driver command and implements control actions only if the vehicle state induced by the human driver violates the pre-defined constraints. The system models, safety constraints and the proposed shared controller are then integrated. The algorithm is validated through computer simulation under two different driving scenarios. The simulation results show that the proposed reference-free approach can offer the human driver more degrees of freedom during shared control, effectively mitigating human-machine conflicts, compared to the previous work. In addition, the algorithm ensures the safety and stability of the system under risky driving conditions, validating its feasibility and effectiveness. |
| first_indexed | 2024-10-01T03:36:22Z |
| format | Journal Article |
| id | ntu-10356/155223 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:36:22Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1552232022-02-24T03:30:50Z Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles Huang, Chao Lv, Chen Naghdy, Fazel Du, Haiping School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Shared Control Algorithm Shared control is a promising approach that can facilitate the mutual understanding and cooperative control between human and machine. In this study, a novel reference-free framework for shared control of automated vehicles is proposed with the aim of mitigating conflicts between the human driver and the automatic system during their interactions. Position constraint and time to collision are deployed to prevent collision and guarantee stability by limiting the yaw rate and sideslip angle of the vehicle. The design of the shared controller is formulated as a model predictive control problem. It determines vehicle state based on the current driver command and implements control actions only if the vehicle state induced by the human driver violates the pre-defined constraints. The system models, safety constraints and the proposed shared controller are then integrated. The algorithm is validated through computer simulation under two different driving scenarios. The simulation results show that the proposed reference-free approach can offer the human driver more degrees of freedom during shared control, effectively mitigating human-machine conflicts, compared to the previous work. In addition, the algorithm ensures the safety and stability of the system under risky driving conditions, validating its feasibility and effectiveness. Agency for Science, Technology and Research (A*STAR) Nanyang Technological University This work as supported in part by th SUG-NAP Grant (no.M4082268.050) of nanyang Technological University, Singapore, and A*STAR Grant(no.1922500046), Singapore 2022-02-24T03:30:50Z 2022-02-24T03:30:50Z 2020 Journal Article Huang, C., Lv, C., Naghdy, F. & Du, H. (2020). Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles. IET Control Theory and Applications, 14(18), 2752-2763. https://dx.doi.org/10.1049/iet-cta.2020.0289 1751-8644 https://hdl.handle.net/10356/155223 10.1049/iet-cta.2020.0289 2-s2.0-85096965172 18 14 2752 2763 en 1922500046 M4082268.050 IET Control Theory and Applications © 2020 The Institution of Engineering and technology. All rights reserved. |
| spellingShingle | Engineering::Mechanical engineering Shared Control Algorithm Huang, Chao Lv, Chen Naghdy, Fazel Du, Haiping Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles |
| title | Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles |
| title_full | Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles |
| title_fullStr | Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles |
| title_full_unstemmed | Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles |
| title_short | Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles |
| title_sort | reference free approach for mitigating human machine conflicts in shared control of automated vehicles |
| topic | Engineering::Mechanical engineering Shared Control Algorithm |
| url | https://hdl.handle.net/10356/155223 |
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